JP2019088146A - Motor controller - Google Patents

Abstract

To make it possible to control according to a temperature of a motor even when the motor is stopped without using a temperature sensor.SOLUTION: A motor controller 10 includes: a main energization control unit 14 that executes energization of a motor at a time of main operation of the motor; a preliminary energization control unit 11 that executes preliminary energization to the motor before the main operation of the motor; and a measurement unit 12 that measures a measurement value that changes in accordance with temperature of the motor on the basis of the preliminary energization performed by the preliminary energization control unit 11. The main energization control unit 14 controls energization of the motor on the basis of the measurement value of the measurement unit 12.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a motor control device, and more particularly to a motor control device capable of controlling a motor according to the temperature of the motor.

  2. Description of the Related Art Conventionally, there has been known a motor housing in which a protection element such as a bimetal or a PTC is incorporated in a motor housing for burnout protection of the motor. For example, in the motor control device described in Patent Document 1, a temperature sensor for detecting the temperature of the motor is provided, and a mechanism for protecting the motor is provided by stopping energization of the motor if the motor generates abnormal heat. ing.

  Moreover, as a structure which makes a temperature sensor unnecessary, for example, patent document 2 is disclosed about the motor control apparatus which estimates motor temperature from the rotational speed of a motor, and a power supply voltage.

Patent No. 4818847 gazette Patent No. 5277301

  However, in the technique described in Patent Document 2, it is necessary to rotate the motor in order to estimate the temperature of the motor. That is, in the technique described in Patent Document 2, since the temperature of the motor can not be estimated before operating the motor, there is a possibility that the motor operates at a high temperature.

  The present invention has been made to solve the above-mentioned problems, and an object thereof is to provide a motor control device capable of controlling according to the temperature of the motor even from a stopped state of the motor without using a temperature sensor. It is to provide.

According to the motor control device according to the present invention, the above-mentioned problem is a motor control device for controlling a motor, and a main energization control unit for performing energization to the motor at the time of main operation of the motor; Prior to this operation, a pre-energization control unit that executes pre-energization to the motor, and a measurement unit that measures a measurement value that changes according to the temperature of the motor based on the pre-energization performed by the pre-energization control unit. And the main energization control unit is solved by controlling energization of the motor based on a measurement value by the measurement unit.
By doing this, it is possible to grasp the temperature state of the motor without actually operating the motor. Thus, control can be performed according to the temperature of the motor even when the motor is stopped without using the temperature sensor.

The above motor control device includes a temperature estimation unit that estimates the temperature of the motor based on the measured value, and the main energization control unit is configured to energize the motor based on the temperature estimated by the temperature estimation unit. It is preferable to control
By doing this, it is possible to estimate the temperature of the motor even when the temperature sensor is not provided. Thereby, the motor can be controlled according to the estimated temperature of the motor.

In the above-described motor control device, preferably, the main energization control unit limits energization to the motor when the temperature estimated by the temperature estimation unit exceeds a predetermined temperature.
This can prevent the motor from overheating. Thereby, the motor can be operated stably.

In the above motor control device, the measurement unit measures a current value and a voltage value of the motor as the measurement value, and the main conduction control unit calculates a resistance value calculated based on the current value and the voltage value. However, it is preferable to limit the energization of the motor when the resistance exceeds a predetermined resistance value.
This makes it possible to control in accordance with the temperature of the motor based on the easily measurable measurement values.

In the above motor control device, it is preferable that the pre-energization control unit executes the pre-energization such that the amount of rotation of the motor is smaller than a predetermined angle.
By doing this, it is possible to estimate the temperature of the motor while suppressing the amount of rotation of the motor. This can prevent the heat generation of the motor to estimate the temperature of the motor.

In the above motor control device, the preliminary energization control unit executes preliminary energization of the motor a plurality of times, the measuring unit measures the measurement value in each of the plurality of preliminary energizations, and the main energization control It is preferable that the control unit controls the energization of the motor based on at least one of an average value, a mode value, and a median value of the measurement values in each of a plurality of preliminary energization operations.
This can improve the estimation accuracy of the motor temperature.

In the motor control device described above, it is preferable that an operation switch for instructing the operation of the motor is provided, and the preliminary energization control unit executes the preliminary energization using an operation of the operation switch as a trigger.
By doing this, it is possible to execute pre-energization immediately before the operation of the motor. Thereby, the motor can be controlled according to the temperature immediately before the operation of the motor.

In the above motor control device, the motor is preferably driven to switch the opening and closing of an opening and closing member provided in the vehicle.
By doing this, the motor for switching the opening and closing of the opening and closing member of the vehicle can be controlled according to the temperature of the motor. Thereby, the motor for switching the opening and closing of the opening and closing member of the vehicle can be operated stably.

  According to the present invention, control can be performed according to the temperature of the motor even when the motor is stopped without using the temperature sensor.

It is a block diagram of a power window apparatus. It is a block diagram of a motor control device concerning one embodiment of the present invention. It is a figure which shows the relationship between the resistance value of a motor, and the temperature of a motor. It is a figure explaining the electricity supply process to the motor in, when a motor temperature is normal. It is a figure explaining the electricity supply process to the motor in, when a motor temperature is high temperature. It is a figure explaining the function with which a motor control device is equipped. It is a flowchart of operation control processing of a motor concerning the 1st example. It is a flowchart of operation control processing of a motor concerning the 2nd example. It is a block diagram of the motor control apparatus which concerns on a 1st modification. It is a block diagram of the motor control apparatus which concerns on a 2nd modification. It is a block diagram of the motor control apparatus which concerns on a 3rd modification.

Hereinafter, an embodiment of the present invention will be described based on FIGS. 1 to 11.
The configuration described below does not limit the present invention, and various modifications can be made within the scope of the present invention.

<Configuration of Power Window Device 1>
A power window device 1 provided with a motor control device 10 according to an embodiment of the present invention will be described below.
As shown in FIG. 1, the power window device 1 raises / lowers (opens / closes) the window glass 4 as a moving member disposed on the door 3 of the vehicle by rotational driving of the motor 5. The power window device 1 includes an elevation mechanism 2 for opening and closing the window glass 4, a motor control device 10 for controlling the operation of the elevation mechanism 2, and an operation switch 24 for instructing the occupant to operate.

In this example, the window glass 4 is moved up and down along the rails (not shown) between the upper fully closed position and the lower fully open position.
The lifting mechanism 2 of this example includes a motor 5 having a reduction mechanism fixed to the door 3, a lifting arm 6 having a fan-shaped gear 6a driven by the motor 5, and a lifting support 6 as a cross with the lifting arm 6 The main components are the driven arm 7 and the fixed channel 8 fixed to the door 3 and the glass side channel 9 integral with the window glass 4.

  The motor 5 of this example receives power supply from the power supply 21 in accordance with the control of the motor control device 10, whereby the windings of the rotor are energized, whereby the magnetics are generated between the rotor and the stator having the magnet. The suction action is generated to rotate the rotor forward and reverse. In the lifting and lowering mechanism 2 of this embodiment, when the lifting and lowering arm 6 and the driven arm 7 swing according to the rotation of the motor 5, their respective end portions are subjected to slide regulation by the fixed channel 8 and the glass side channel 9, Drive as a link to raise and lower the window glass 4.

<< Hardware Configuration of Motor Controller 10 >>
Next, the hardware configuration of the motor control device 10 that controls the motor 5 will be described based on FIG. In the example shown in FIG. 2, the motor 5 is a brushed motor.

As shown in FIG. 2, the motor control device 10 includes a power supply 21, a relay circuit 22, a current sensor 23, an operation switch 24 and a control unit 30.
The operation switch 24 is an operation unit for instructing the operation of the motor 5. Specifically, the operation switch 24 is for performing an operation for opening and closing the window glass 4 by the elevating mechanism 2. More specifically, the operation switch 24 includes a raising switch 24A and a lowering switch 24B for instructing the opening operation and the closing operation of the window glass 4, respectively.

  The power supply 21 is a DC power supply. Specifically, the power source 21 is a battery mounted on a vehicle.

The relay circuit 22 includes a first switch 22A and a second switch 22B, and is a circuit that switches on and off of the first switch 22A and the second switch 22B according to the control of the control unit 30.
The relay circuit 22 is a circuit that connects the power supply 21 and the motor 5 and controls conduction between the power supply 21 and the motor 5 in response to switching on and off of the first switch 22A and the second switch 22B. Control the forward and reverse rotation of the

  For example, when both the rising switch 24A and the lowering switch 24B are off, the control unit 30 turns off both the first switch 22A and the second switch 22B so that no current flows from the power supply 21 to the motor 5. Make it In this case, the motor 5 does not operate.

  Also, for example, when the raising switch 24A is on, the control unit 30 switches only the first switch 22A on, and causes the current to flow from the power supply 21 in the order of the first switch 22A, the motor 5, and the second switch 22B. Thus, the motor 5 is operated. The direction in which current flows in the order of the first switch 22A, the motor 5, and the second switch 22B is a forward direction, and the rotation direction of the motor 5 in this case is a forward rotation. When the motor 5 rotates forward, the lifting mechanism 2 operates to lift the window glass 4.

  Further, for example, when the lowering switch 24B is on, the control unit 30 switches only the second switch 22B on to supply current from the power supply 21 in the order of the second switch 22B, the motor 5, and the first switch 22A. Thus, the motor 5 is operated. The direction in which current flows in the order of the second switch 22B, the motor 5, and the first switch 22A is reverse, and the direction of rotation of the motor 5 at this time is reverse. Then, when the motor 5 is reversely rotated, the lifting mechanism 2 operates to lower the window glass 4.

  The current sensor 23 is an element that detects the value of the current flowing through the motor 5. Specifically, the current sensor 23 is connected in series to the motor 5 and can detect the current flowing in the motor 5. The current value detected by the current sensor 23 is output to the control unit 30.

The operation switch 24 includes a raising switch 24A and a lowering switch 24B.
As described above, while the lift switch 24A is on, the control unit 30 operates the motor 5 so that the window glass 4 is lifted.
Then, while the lowering switch 24B is on, the control unit 30 operates the motor 5 so that the window glass 4 is lowered.

The control unit 30 is a controller that controls the operation of the motor 5. In the present embodiment, the control unit 30 controls the relay circuit 22 to control the operation of the motor 5.
The control unit 30 includes a processor 31, a memory 32, and an input / output port 33 as a hardware configuration.

The processor 31 is hardware (for example, a CPU) for executing an instruction set described in a program. Then, the processor 31 executes various arithmetic processing based on programs and data stored in the memory 32, and controls the motor control device 10.
The memory 32 stores various programs and data. The memory 32 is also used as a work memory of the processor 31.
The input / output port 33 is connected to the power supply 21, the relay circuit 22, the current sensor 23, the rising switch 24A, and the falling switch 24B. As a result, the control unit 30 can detect the power supply voltage of the power supply 21, control the relay circuit 22, measure the current value of the motor 5, and measure the voltage value.

<< Overview of Control by Motor Controller 10 >>
Next, an outline of control of the motor 5 by the motor control device 10 will be described with reference to FIGS. 3 to 5.

The relationship between the temperature of the motor 5 and the resistance value of the motor 5 is shown in FIG. As shown in FIG. 3, the resistance value of the motor 5 changes according to the temperature. Specifically, the resistance value of the motor 5 also increases as the temperature rises. Here, when the operating temperature limit of the motor 5 and T _0, from the relationship shown in FIG. 3, the resistance value R ₀ of the motor 5 corresponding to the operating temperature limit T ₀ is determined. The operation limit temperature is a temperature serving as a threshold for limiting the operation of the motor 5. When the operation limit temperature is exceeded, the current supply to the motor 5 is stopped to stop the operation of the motor 5. Then, the resistance value R ₀ corresponding to the above-mentioned operation limit temperature is taken as the operation limit resistance value.
The data indicating the relationship between the temperature of the motor 5 and the resistance value shown in FIG. 3 may be stored in the memory 32 as a mathematical expression or a table. Furthermore, the data of T ₀ and R ₀ may be stored in the memory 32.

Here, an outline of processing of the motor control device 10 when the operation switch 24 is operated and the up switch 24A or the down switch 24B is turned on will be described with reference to FIGS. 4 and 5.
4 corresponds to the process when the temperature of the motor 5 does not exceed the operation limit temperature, and FIG. 5 corresponds to the process when the temperature of the motor 5 exceeds the operation limit temperature.

In FIG. 4, (a) shows the transition of the voltage value of the motor 5, (b) shows the transition of the current value of the motor 5, and (c) shows the transition of the resistance value of the motor 5.
Here, when detecting the operation of the raising switch 24A (or the lowering switch 24B), the control unit 30 first turns on the first switch 22A (or the second switch 22B) for a short time to energize the motor 5 . Specifically, this is performed by turning on the first switch 22A (or the second switch 22B) for about 30 ms, for example. Then, the above-described energization processing is such that the amount of rotation of the motor 5 remains in a minute range, and this energization is referred to as preliminary energization.

Then, the control unit 30 calculates the resistance value of the motor 5 based on the voltage value and the power value of the motor 5 at the time of preenergization. Then, when the calculated resistance value of the motor 5 is equal to or less than the operation limiting resistance value R ₀ , the control unit 30 determines that the temperature of the motor 5 is in the normal range, and the first switch of the relay circuit 22 22A (or the second switch 22B) is switched on to energize the motor 5 to operate. This energization processing is for operating the motor 5 and is referred to as main energization.

On the other hand, as shown in FIG. 5, when the resistance value calculated based on the voltage value and current value of motor 5 measured by pre-energization exceeds operation limiting resistance value R ₀ , control unit 30 Determines that the temperature of the motor 5 is not within the normal range, and keeps the first switch 22A and the second switch 22B of the relay circuit 22 off to control the motor 5 not to operate. That is, when it is determined that the temperature of the motor 5 is not within the normal range, the control unit 30 limits the main energization to the motor 5.

<< Functions Provided to Motor Control Device 10 >>
The functions provided to the motor control device 10 in order to realize the above processing will be described.
A functional block diagram of the motor control device 10 is shown in FIG. As shown in FIG. 6, the motor control device 10 includes, as functions, a preliminary energization control unit 11, a measurement unit 12, a temperature estimation unit 13, and a main energization control unit 14.
The functions of the above-described units provided in the motor control device 10 are realized by the processor 31 controlling the respective units of the control unit 30 based on the programs and data stored in the memory 32.
The details of the functions of the above-described units provided in the motor control device 10 will be described below.

[Description of the preliminary power control unit 11]
The preliminary energization control unit 11 performs preliminary energization of the motor 5 before the main operation of the motor 5. The preliminary energization control unit 11 is mainly realized by the control unit 30 of the motor control device 10, the operation switch 24, and the relay circuit 22.

The above “main operation” is to rotate the amount of rotation of the motor 5 to a predetermined angle or more. Here, the amount of rotation of the motor 5 is the rotation angle of the rotor of the motor 5. For example, operating the motor 5 to move the window glass 4 by driving the elevating mechanism 2 corresponds to the above-mentioned “main operation”.
Then, energizing the motor 5 in order to cause the motor 5 to perform main operation is referred to as “main energization”. Specifically, “main energization” means to energize the motor 5 continuously for a predetermined time or more. For example, the above-mentioned "predetermined time" is a time longer than the energization time in the preliminary energization.

On the other hand, “pre-energization” is performed to estimate the temperature of the motor 5 before the motor 5 is operated. Specifically, "pre-energization" refers to energization which is performed prior to "main energization" and which slightly suppresses the operation of the motor 5. In other words, "pre-energization" means that the motor 5 is energized for a time such that the amount of rotation of the motor 5 is less than a predetermined angle.
More specifically, the preliminary energization control unit 11 executes the above-described preliminary energization using the fact that the operation switch 24 has received an on operation as a trigger. That is, after the operation switch 24 receives the on-operation, the preliminary energization control unit 11 controls the relay circuit 22 so that the motor 5 is energized for a minute time (for example, 30 milliseconds). Note that the above-mentioned minute time may be predetermined for the motor 5 as a time in which the amount of rotation of the motor 5 is less than a predetermined angle.
In addition, although said "predetermined angle" can be set arbitrarily, it shall be 360 degrees or less, for example. Thereby, the preliminary electrification control unit 11 can perform a minute operation such that the motor 5 does not make one rotation by the preliminary electrification.

Further, the pre-energization control unit 11 may execute pre-energization of the motor 5 a plurality of times.
That is, after the operation switch 24 receives the on operation, the preliminary energization control unit 11 may repeat the preliminary energization a plurality of times and execute the preliminary energization. At this time, the interval of the pre-energization may be set to a predetermined time (for example, 30 milliseconds).

[Description of Measurement Unit 12]
The measurement unit 12 measures a measurement value that changes according to the temperature of the motor 5 based on the preliminary energization performed by the preliminary energization control unit 11.
The measuring unit 12 is mainly realized by the control unit 30 of the motor control device 10 and the current sensor 23.

The “measurement value” is a value related to the electrical characteristic that can be measured from the electric circuit that configures the motor control device 10 by execution of the pre-energization, and is a value that correlates to the temperature of the motor 5. Specifically, the measurement unit 12 measures the current value and the voltage value of the motor 5 as measurement values. Further, the resistance value of the motor 5 obtained from the current value and the voltage value of the motor 5 also corresponds to the above-mentioned "measurement value".
“Measuring a measurement value based on pre-energization” is to measure a measurement value that can be measured by executing pre-energization in the motor control device 10.

  Specifically, the measurement unit 12 measures the current value flowing to the motor 5 by the pre-energization using the current sensor 23. The voltage value of the motor 5 at the time of preenergization can be measured by the control unit 30.

In addition, when the pre-energization control unit 11 executes the pre-energization a plurality of times, the measurement unit 12 measures a measurement value of each of the plurality of pre-energization operations.
Then, the pre-energization control unit 11 may store the measurement value measured by the pre-energization in the memory 32.

[Description of Temperature Estimation Unit 13]
The temperature estimation unit 13 estimates the temperature of the motor 5 based on the measured value.
The temperature estimation unit 13 is mainly realized by the control unit 30 of the motor control device 10.

Specifically, when the measurement values measured by the measurement unit 12 indicate the current value and the voltage value of the motor 5, the processor 31 estimates the temperature of the motor 5 as follows.
First, the processor 31 calculates the resistance value of the motor 5 from the current value and the voltage value of the motor 5. Then, the processor 31 specifies the corresponding temperature based on data indicating the relationship between the resistance value and the temperature shown in FIG. 3 stored in the memory 32. Thus, the temperature of the motor 5 is estimated.

  Then, the temperature estimation unit 13 outputs the estimated temperature of the motor 5 to the main conduction control unit 14. Note that the temperature estimation unit 13 may not necessarily estimate the temperature of the motor 5. For example, when the temperature estimation unit 13 does not estimate the temperature of the motor 5, the measurement value measured by the measurement unit 12 is output to the main energization control unit 14.

[Description of main energization control unit 14]
The main energization control unit 14 executes energization of the motor 5 at the time of main operation of the motor 5.
Further, the main energization control unit 14 controls energization of the motor based on the measurement value of the measurement unit 12.
Specifically, the main energization control unit 14 controls the amount of energization of the motor 5 based on the measurement value of the measurement unit 12. Here, in order to control the amount of energization to the motor 5, limiting the energization to the motor 5, that is, not energizing the motor 5, or operating the motor 5 at a low output And 5 to reduce the supply current.

For example, when the temperature estimation unit 13 estimates the temperature of the motor 5, the energization control unit 14 controls energization of the motor 5 based on the temperature estimated by the temperature estimation unit 13.
Specifically, when the temperature estimated by the temperature estimation unit 13 exceeds a predetermined temperature, the main energization control unit 14 restricts energization to the motor 5.
Here, the “predetermined temperature” is an operation limit temperature predetermined for the motor 5. The operation limit temperature may be stored in advance in the memory 32.

Further, for example, when the temperature estimation unit 13 does not estimate the temperature of the motor 5, the main conduction control unit 14 determines that the resistance value calculated based on the current value and the voltage value measured by the measurement unit 12 is predetermined. If the resistance value of the motor 5 is exceeded, the current supply to the motor 5 is limited.
The “predetermined resistance value” is an operation limiting resistance value predetermined for the motor 5. The operation limiting resistance value is a resistance value corresponding to the above-mentioned operation limiting temperature in the relation between the temperature of the motor 5 and the resistance value shown in FIG. The operation limiting resistance value may be stored in advance in the memory 32.

In addition, when the preliminary energization control unit 11 executes a plurality of preliminary energization operations, the main energization control unit 14 calculates the average value of the measurement values measured by the measurement unit 12 for each of the plurality of preliminary energization operations. The energization of the motor 5 may be controlled based on at least one of the frequency value and the median value.
Specifically, the main energization control unit 14 calculates the average value of the resistance values of the motor 5 measured for each of the plurality of times of pre-energization, and when the average value exceeds a predetermined resistance value, It is good to limit energization.
Further, the main energization control unit 14 determines the mode value among the resistance values of the motor 5 measured for each of the plurality of times of pre-energization, and when the mode value exceeds the predetermined resistance value, It is good to limit energization.
Further, the main energization control unit 14 determines a median value among the resistance values of the motor 5 measured for each of the plurality of times of preliminary energization, and energizes the motor 5 when the median value exceeds a predetermined resistance value. It is good to limit.

  The main energization control unit 14 is not limited to the average value, the mode value, and the median value of the measurement values measured by the measurement unit 12 for a plurality of times of preliminary energization, and energization of the motor 5 based on other statistical values. May be controlled. At this time, the main energization control unit 14 may exclude the abnormal value from among the measurement values measured by the measurement unit 12 for the plurality of times of pre-energization to obtain the above-described statistical value.

<Control flow by motor control device 10>
Next, control processing of the motor 5 executed by the motor control device 10 will be described with reference to FIGS. 7 and 8.

<< First example >>
First, a first example of motor control processing by the motor control device 10 will be described based on a flowchart shown in FIG. 7. In the first example, the motor control device 10 executes one pre-energization before the main operation of the motor 5 and controls the main energization based on the measurement value measured during the pre-energization.

  As shown in FIG. 7, when the operation switch 24 as a power switch is turned on (S1: Yes), the motor control device 10 proceeds to S2. When the operation switch 24 is not turned on in S1 (S1: No), the motor control device 10 ends the process as it is.

  In S2, the motor control device 10 controls the relay circuit 22 to start pre-energization of the motor 5 (S2). Here, the motor control device 10 measures the current value of the motor 5 and the voltage value of the motor 5 detected by the current sensor 23, and calculates the resistance value of the motor 5 based on the current value and the voltage value (S3) .

  When a predetermined time (for example, 30 msec) has elapsed since the start of the preliminary energization in S2, the motor control device 10 controls the relay circuit 22 to stop the preliminary energization of the motor 5 (S4).

If the resistance value calculated in S3 is equal to or less than the operation limit resistance value _R0 as a threshold (S5: Yes), the motor control device 10 controls the relay circuit 22 to operate the motor 5. Energization is started (S6).

  Then, when the operation switch 24 is not switched off (S7: No), the motor control device 10 continues the main energization, and when the operation switch 24 is switched off (S7: Yes), the relay circuit 22 is controlled to stop the main energization of the motor 5 (S8).

In S5, when the resistance value calculated in S3 is larger than the operation limit resistance value R0 as the threshold (S5: No), the motor control device 10 limits the main energization to the motor 5 (S9). , And control not to operate the motor 5. In this case, limiting the main energization to the motor 5 means that the motor control device 10 controls the relay circuit 22 so that no current flows from the power supply 21 to the motor 5.
The above is the description of the first example of the operation control process of the motor 5 by the motor control device 10.

<< Second example >>
Next, a second example of motor control processing by the motor control device 10 will be described based on a flow chart shown in FIG. In the second example, the motor control device 10 executes the preliminary energization a plurality of times (here, N times) before the main operation of the motor 5, and performs the main energization based on the measurement value measured during the preliminary energization. I will control. The above N is an integer of 2 or more.

  As shown in FIG. 8, when the operation switch 24 as a power switch is turned on (S11: Yes), the motor control device 10 proceeds to S12. When the operation switch 24 is not turned on in S11 (S11: No), the motor control device 10 ends the process as it is.

  In S12, the motor control device 10 first initializes the variable i to 1 (S12), and then controls the relay circuit 22 to start the i-th preliminary energization of the motor 5 (S13). Here, the motor control device 10 measures the current value of the motor 5 and the voltage value of the motor 5 detected by the current sensor 23, and calculates the resistance value Ri of the motor 5 based on the current value and the voltage value (S14) ).

  When a predetermined time (for example, 30 msec) elapses after the i-th preliminary energization is started in S13, the motor control device 10 controls the relay circuit 22 to stop the i-th preliminary energization to the motor 5 (S15).

Then, if the variable i has not reached N (S16: No), the motor control device 10 adds 1 to the variable i (S17), and returns to S13.
In addition, when the variable i reaches N (S16: Yes), the motor control device 10 calculates the average value of the resistance values R _{1 to} R _N measured by the first to Nth pre-energizations ( _RA ) Is calculated (S18).

If the resistance value R _A calculated at S 18 is less than the operation limit resistance value R ₀ as a threshold (S 19: Yes), the motor control device 10 controls the relay circuit 22 to operate the motor 5. The main energization is started (S20).

  Then, when the operation switch 24 is not switched off (S21: No), the motor control device 10 continues main energization, and when the operation switch 24 is switched off (S21: Yes), the relay circuit 22 is controlled to stop the main energization of the motor 5 (22).

In S19, when the resistance value calculated in S18 is larger than the operation limit resistance value _R0 as the threshold (S19: No), the motor control device 10 restricts the main energization to the motor 5 (S23). ), To control the motor 5 not to operate. In this case, limiting the main energization to the motor 5 means that the motor control device 10 controls the relay circuit 22 so that no current flows from the power supply 21 to the motor 5.
The above is the description of the second example of the operation control process of the motor 5 by the motor control device 10.
According to the operation control process of the motor 5 by the motor control device 10 described above, before the main operation of the motor 5, the measured value correlated with the temperature of the motor 5 is measured, and the motor 5 is controlled according to the measured value. Can. As a result, when the temperature of the motor 5 exceeds the operation limit temperature, it is possible to suppress the operation of the motor 5. Therefore, it is possible to suppress that the motor 5 is operated at high temperature.

<Other Embodiments>
Below, the 1st-3rd modification of the motor control apparatus 10 is demonstrated, referring FIGS. 9-11.

<< First Modification >>
First, a motor control device 10A according to a first modification will be described based on FIG. FIG. 9 shows the circuit configuration of the motor control device 10A. In the motor control device 10A according to the first modification, the motor 5 is a brushed motor.

As shown in FIG. 9, the motor control device 10A is different from the motor control device 10 in that an FET 25 for controlling the output of the motor 5 is added, and the other points are common. The FET 25 is a switching element for pulse width modulation.
As described above, the motor control device 10A according to the embodiment of the present invention includes the FET 25 for pulse width modulation. The motor control device 10A can also be controlled in the same manner as the motor control device 10.

<< Second Modification >>
Next, a motor control device 10B according to a second modification will be described based on FIG. FIG. 10 shows the circuit configuration of the motor control device 10B. In the motor control device 10B according to the second modification, the motor 5 is a brushed motor.

As shown in FIG. 10, the motor control device 10B differs from the motor control device 10 in that an H bridge drive circuit consisting of four FETs 26 is provided instead of the relay circuit 22; In common.
In the motor control device 10B, by controlling the four FETs 26, the output of the motor 5 can be controlled similarly to the motor control device 10A.
As described above, the motor control device 10B according to the embodiment of the present invention includes the H bridge drive circuit instead of the relay circuit 22. The motor control device 10B can also be controlled in the same manner as the motor control device 10.

<< Third Modification >>
Finally, a motor control device 10C according to a third modification will be described based on FIG. FIG. 11 shows the circuit configuration of the motor control device 10C. In the motor control device 10C according to the third modification, the motor 5 is a brushless motor.

As shown in FIG. 11, the motor control device 10C is different from the motor control device 10 in that a three-phase bridge drive circuit consisting of six FETs 27 is provided instead of the relay circuit 22; It is common in point.
In the motor control device 10C, by controlling the six FETs 27, the output of the motor 5 can be controlled similarly to the motor control device 10A.
As described above, the motor control device 10C according to the embodiment of the present invention includes the three-phase bridge drive circuit instead of the relay circuit 22. The motor control device 10C can also be controlled in the same manner as the motor control device 10.

The present invention is not limited to the above embodiment, and can be applied to other circuit configurations. Moreover, although the example which applied this invention to the power window apparatus 1 was shown in said embodiment, it can apply not only to this but the general apparatus which has a motor.
For example, the present invention is applicable to control of a motor for moving a seat of a vehicle, opening and closing of a sunroof of a vehicle and a slide door other than opening and closing of a window glass.

<Summary>
The motor control device 10 according to the present embodiment controls the motor 5. The motor control device 10 performs a main energization control unit 14 that executes energization of the motor 5 at the time of the main operation of the motor 5 and a preliminary energization control unit 11 that performs the preliminary energization of the motor 5 before the main operation of the motor 5. And a measurement unit 12 that measures a measurement value that changes in accordance with the temperature of the motor 5 based on the preliminary energization performed by the preliminary energization control unit 11. The main energization control unit 14 controls energization of the motor 5 based on the measurement value of the measurement unit 12.
According to the motor control device 10, the temperature state of the motor 5 can be grasped without actually operating the motor 5. Thus, according to the motor control device 10, control can be performed according to the temperature of the motor 5 even when the motor 5 is stopped without using the temperature sensor.

In addition, the motor control device 10 includes a temperature estimation unit 13 that estimates the temperature of the motor 5 based on the measured value, and the main conduction control unit 14 energizes the motor based on the temperature estimated by the temperature estimation unit 13. Control.
By doing this, even when the temperature sensor is not provided, the temperature of the motor 5 can be estimated. Thereby, the motor 5 can be controlled according to the estimated temperature of the motor 5.

Further, in the motor control device 10, when the temperature estimated by the temperature estimation unit 13 exceeds a predetermined temperature, the main energization control unit 14 limits the energization to the motor 5.
This can prevent the motor 5 from overheating. Thereby, the motor 5 can be operated stably.

Further, in the motor control device 10, the measurement unit 12 measures the current value and the voltage value of the motor 5 as measurement values, and the main conduction control unit 14 calculates the resistance value calculated based on the current value and the voltage value. When the predetermined resistance value is exceeded, the energization of the motor 5 is limited.
In this way, control in accordance with the temperature of the motor 5 can be performed based on the easily measurable measurement values.

Further, in the motor control device 10, the preliminary energization control unit 11 executes preliminary energization so that the amount of rotation of the motor 5 is smaller than a predetermined angle.
By doing this, it is possible to estimate the temperature of the motor 5 while suppressing the amount of rotation of the motor 5. As a result, it is possible to prevent the motor 5 from further generating heat for estimation of the temperature of the motor 5.

Further, in the motor control device 10, the preliminary energization control unit 11 executes preliminary energization of the motor 5 a plurality of times. The measurement unit 12 measures the measurement values in each of the plurality of pre-energization operations, and the main conduction control unit 14 measures at least one of the average value, the mode value, and the median value of the measurement values in each of the plurality of pre-activation operations Control the current supply to the motor 5 on the basis of.
By doing this, the estimation accuracy of the temperature of the motor 5 can be improved.

Further, the motor control device 10 is provided with an operation switch 24 for instructing the operation of the motor 5, and the preliminary energization control unit 11 executes preliminary energization with the operation of the operation switch 24 as a trigger.
By doing this, it is possible to execute pre-energization immediately before the operation of the motor 5. Thus, the motor 5 can be controlled in accordance with the temperature immediately before the operation of the motor 5.

Further, in the motor control device 10, the motor 5 is driven to switch the opening and closing of the window glass 4 (an example of the opening and closing member) provided in the vehicle.
By doing this, the motor 5 for switching the opening and closing of the window glass 4 of the vehicle can be controlled according to the temperature of the motor 5. Thus, the motor 5 for switching the opening and closing of the window glass 4 of the vehicle can be operated stably.

1 Power Window Device 2 Lifting Mechanism 3 Door 4 Window Glass (Opening and Closing Member)
Reference Signs List 5 motor 6 elevation arm 6a gear 7 driven arm 8 fixed channel 9 glass side channel 10 motor control device 10A motor control device 10B motor control device 10C motor control device 11 preliminary energization control unit 12 measurement unit 13 temperature estimation unit 14 main energization control unit 21 power supply 22 relay circuit 22A 1st switch 22B 2nd switch 23 current sensor 24 operation switch 24A rising switch 24B falling switch 25 FET
26 FET
27 FET
30 control unit 31 processor 32 memory 33 input / output port

Claims (8)

A motor controller for controlling a motor,
A main energization control unit that executes energization of the motor at the time of main operation of the motor;
A pre-energization control unit that executes pre-energization to the motor before the main operation of the motor;
A measurement unit configured to measure a measurement value that changes according to the temperature of the motor based on the preliminary energization performed by the preliminary energization control unit;
The motor control device, wherein the main energization control unit controls energization of the motor based on a value measured by the measurement unit. A temperature estimation unit configured to estimate the temperature of the motor based on the measured value;
The motor control device according to claim 1, wherein the main energization control unit controls energization of the motor based on the temperature estimated by the temperature estimation unit.   The motor control device according to claim 2, wherein the main energization control unit limits energization to the motor when the temperature estimated by the temperature estimation unit exceeds a predetermined temperature. The measurement unit measures a current value and a voltage value of the motor as the measurement value,
The main conduction control unit according to claim 1, wherein when the resistance value calculated based on the current value and the voltage value exceeds a predetermined resistance value, the current supply to the motor is restricted. Motor control unit.   The motor control device according to any one of claims 1 to 4, wherein the pre-energization control unit executes the pre-energization such that the rotation amount of the motor is smaller than a predetermined angle. The preliminary energization control unit executes preliminary energization of the motor a plurality of times,
The measurement unit measures the measurement value at each of a plurality of pre-energization times;
The main energization control unit controls energization of the motor based on at least one of an average value, a mode value, and a median value of the measurement values in each of a plurality of times of preliminary energization. The motor control device according to any one of 1 to 5. It has an operation switch for instructing the operation of the motor,
The motor control device according to any one of claims 1 to 6, wherein the pre-energization control unit executes the pre-energization using an operation of the operation switch as a trigger. The motor control device according to any one of claims 1 to 7, wherein the motor is driven to switch the opening and closing of an opening and closing member provided in the vehicle.

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